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<div class="title">PxTransform.h</div>  </div>
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<a href="PxTransform_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">// are met:</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">//  * Redistributions of source code must retain the above copyright</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">//    notice, this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">//  * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//    notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">//    documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//  * Neither the name of NVIDIA CORPORATION nor the names of its</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">//    contributors may be used to endorse or promote products derived</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//    from this software without specific prior written permission.</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS &#39;&#39;AS IS&#39;&#39; AND ANY</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment">// Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved.</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment">// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment">// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#ifndef PXFOUNDATION_PXTRANSFORM_H</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#define PXFOUNDATION_PXTRANSFORM_H</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxQuat_8h.html">foundation/PxQuat.h</a>&quot;</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxPlane_8h.html">foundation/PxPlane.h</a>&quot;</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#if !PX_DOXYGEN</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacephysx.html">physx</a></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;{</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classPxTransform.html">   48</a></span>&#160;<span class="keyword">class </span><a class="code" href="classPxTransform.html">PxTransform</a></div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;{</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="keyword">public</span>:</div><div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classPxTransform.html#aadb9d2118765e188f212cf3c0e0018cb">   51</a></span>&#160;    <a class="code" href="classPxQuat.html">PxQuat</a> <a class="code" href="classPxTransform.html#aadb9d2118765e188f212cf3c0e0018cb">q</a>;</div><div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classPxTransform.html#ab1a41ac5f4df8e07ba590fa0a8a6e786">   52</a></span>&#160;    <a class="code" href="classPxVec3.html">PxVec3</a> <a class="code" href="classPxTransform.html#ab1a41ac5f4df8e07ba590fa0a8a6e786">p</a>;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;</div><div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classPxTransform.html#acf88e048efec0734d0fc89cd9f976d51">   54</a></span>&#160;    <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxTransform.html#acf88e048efec0734d0fc89cd9f976d51">PxTransform</a>()</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    {</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    }</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;</div><div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classPxTransform.html#acb9832826ac6c8d150200524f7e7324d">   58</a></span>&#160;    <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <span class="keyword">explicit</span> <a class="code" href="classPxTransform.html#acb9832826ac6c8d150200524f7e7324d">PxTransform</a>(<span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>&amp; position) : q(<a class="code" href="group__foundation.html#gga70160ca5bbafef277790b3e0f12baf38a95e14c69af8048aedd218cd6e96ad50f">PxIdentity</a>), p(position)</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    {</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    }</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;</div><div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classPxTransform.html#ab414a3463acc556445fb095ee32e98d8">   62</a></span>&#160;    <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <span class="keyword">explicit</span> <a class="code" href="classPxTransform.html#ab414a3463acc556445fb095ee32e98d8">PxTransform</a>(<a class="code" href="group__foundation.html#ga70160ca5bbafef277790b3e0f12baf38">PxIDENTITY</a> r) : q(<a class="code" href="group__foundation.html#gga70160ca5bbafef277790b3e0f12baf38a95e14c69af8048aedd218cd6e96ad50f">PxIdentity</a>), p(<a class="code" href="group__foundation.html#ggac10bd69c94c165a52f6de39678ef9d4ca0ea259a79d3556f2986a96b5fbf8d4bc">PxZero</a>)</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    {</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;        <a class="code" href="group__foundation.html#ga9727af514012bc32f852e20278a7b04e">PX_UNUSED</a>(r);</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    }</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;</div><div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="classPxTransform.html#a1e8f1a81e48e0b8c5e5708b871ca61e0">   67</a></span>&#160;    <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <span class="keyword">explicit</span> <a class="code" href="classPxTransform.html#a1e8f1a81e48e0b8c5e5708b871ca61e0">PxTransform</a>(<span class="keyword">const</span> <a class="code" href="classPxQuat.html">PxQuat</a>&amp; orientation) : q(orientation), p(0)</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    {</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        <a class="code" href="group__foundation.html#ga07ffc52cd4afa8e797a5fe6e1cb7e17a">PX_SHARED_ASSERT</a>(orientation.<a class="code" href="classPxQuat.html#a9ae073fbc5614a4698087370ce591567">isSane</a>());</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    }</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div><div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classPxTransform.html#a94418383f43ad184a40806d343858f80">   72</a></span>&#160;    <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxTransform.html#a94418383f43ad184a40806d343858f80">PxTransform</a>(<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">float</span> z, <a class="code" href="classPxQuat.html">PxQuat</a> aQ = <a class="code" href="classPxQuat.html">PxQuat</a>(<a class="code" href="group__foundation.html#gga70160ca5bbafef277790b3e0f12baf38a95e14c69af8048aedd218cd6e96ad50f">PxIdentity</a>))</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    : q(aQ), p(x, y, z)</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    {</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    }</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;</div><div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classPxTransform.html#ad1f4d4ab98a90e24f45b1166f1906309">   77</a></span>&#160;    <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxTransform.html#ad1f4d4ab98a90e24f45b1166f1906309">PxTransform</a>(<span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>&amp; p0, <span class="keyword">const</span> <a class="code" href="classPxQuat.html">PxQuat</a>&amp; q0) : q(q0), p(p0)</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; 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input)<span class="keyword"> const</span></div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;<span class="keyword">    </span>{</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        <a class="code" href="group__foundation.html#ga07ffc52cd4afa8e797a5fe6e1cb7e17a">PX_SHARED_ASSERT</a>(<a class="code" href="namespacephysx_1_1intrinsics.html#a28bd12477f3ca0b092c0b9b61bdfaf04">isFinite</a>());</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        <span class="keywordflow">return</span> q.<a class="code" href="classPxQuat.html#a2bafc323c17556f69e17ffccdd127dd1">rotate</a>(input) + p;</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    }</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;</div><div class="line"><a name="l00117"></a><span class="lineno"><a class="line" href="classPxTransform.html#a246b95d9344f81c73b427eedd434880e">  117</a></span>&#160; 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src)<span class="keyword"> const</span></div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;<span class="keyword">    </span>{</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        <a class="code" href="group__foundation.html#ga07ffc52cd4afa8e797a5fe6e1cb7e17a">PX_SHARED_ASSERT</a>(src.<a class="code" href="classPxTransform.html#a7a68866dac80dc9be64dd6b31bb2b800">isSane</a>());</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        <a class="code" href="group__foundation.html#ga07ffc52cd4afa8e797a5fe6e1cb7e17a">PX_SHARED_ASSERT</a>(isSane());</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        <span class="comment">// src = [srct, srcr] -&gt; [r*srct + t, r*srcr]</span></div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classPxTransform.html">PxTransform</a>(q.<a class="code" href="classPxQuat.html#a2bafc323c17556f69e17ffccdd127dd1">rotate</a>(src.<a class="code" href="classPxTransform.html#ab1a41ac5f4df8e07ba590fa0a8a6e786">p</a>) + p, q * src.<a class="code" href="classPxTransform.html#aadb9d2118765e188f212cf3c0e0018cb">q</a>);</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; 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       <a class="code" href="group__foundation.html#ga07ffc52cd4afa8e797a5fe6e1cb7e17a">PX_SHARED_ASSERT</a>(<a class="code" href="namespacephysx_1_1intrinsics.html#a28bd12477f3ca0b092c0b9b61bdfaf04">isFinite</a>());</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        <span class="comment">// src = [srct, srcr] -&gt; [r^-1*(srct-t), r^-1*srcr]</span></div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        <a class="code" href="classPxQuat.html">PxQuat</a> qinv = q.<a class="code" href="classPxQuat.html#a955317d16f9eeb450c4d37d3d8a3f638">getConjugate</a>();</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classPxTransform.html">PxTransform</a>(qinv.<a class="code" href="classPxQuat.html#a2bafc323c17556f69e17ffccdd127dd1">rotate</a>(src.<a class="code" href="classPxTransform.html#ab1a41ac5f4df8e07ba590fa0a8a6e786">p</a> - p), qinv * src.<a class="code" href="classPxTransform.html#aadb9d2118765e188f212cf3c0e0018cb">q</a>);</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    }</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;</div><div class="line"><a name="l00185"></a><span class="lineno"><a class="line" href="classPxTransform.html#a842511b3feface3ce681b2c9cc18a3f0">  185</a></span>&#160;    <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxPlane.html">PxPlane</a> <a class="code" href="classPxTransform.html#a842511b3feface3ce681b2c9cc18a3f0">transform</a>(<span class="keyword">const</span> <a class="code" href="classPxPlane.html">PxPlane</a>&amp; <a class="code" href="PxGeometryHelpers_8h.html#aa71e9d86a57681fb987b3fdb209b7760">plane</a>)<span class="keyword"> const</span></div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;<span class="keyword">    </span>{</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        <a class="code" href="classPxVec3.html">PxVec3</a> transformedNormal = rotate(<a class="code" href="PxGeometryHelpers_8h.html#aa71e9d86a57681fb987b3fdb209b7760">plane</a>.n);</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classPxPlane.html">PxPlane</a>(transformedNormal, <a class="code" href="PxGeometryHelpers_8h.html#aa71e9d86a57681fb987b3fdb209b7760">plane</a>.d - p.<a class="code" href="classPxVec3.html#a4c136327953ea1b09be10d979279b7dc">dot</a>(transformedNormal));</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    }</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;</div><div class="line"><a name="l00195"></a><span class="lineno"><a class="line" href="classPxTransform.html#a4d7ebba4b1f9cd382cdf74efb8539519">  195</a></span>&#160;    <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxPlane.html">PxPlane</a> <a class="code" href="classPxTransform.html#a4d7ebba4b1f9cd382cdf74efb8539519">inverseTransform</a>(<span class="keyword">const</span> <a class="code" href="classPxPlane.html">PxPlane</a>&amp; <a class="code" href="PxGeometryHelpers_8h.html#aa71e9d86a57681fb987b3fdb209b7760">plane</a>)<span class="keyword"> const</span></div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;<span class="keyword">    </span>{</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        <a class="code" href="classPxVec3.html">PxVec3</a> transformedNormal = rotateInv(<a class="code" href="PxGeometryHelpers_8h.html#aa71e9d86a57681fb987b3fdb209b7760">plane</a>.n);</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classPxPlane.html">PxPlane</a>(transformedNormal, <a class="code" href="PxGeometryHelpers_8h.html#aa71e9d86a57681fb987b3fdb209b7760">plane</a>.d + p.<a class="code" href="classPxVec3.html#a4c136327953ea1b09be10d979279b7dc">dot</a>(<a class="code" href="PxGeometryHelpers_8h.html#aa71e9d86a57681fb987b3fdb209b7760">plane</a>.n));</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    }</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;</div><div class="line"><a name="l00204"></a><span class="lineno"><a class="line" href="classPxTransform.html#ad784d164cb672a62f145a469806fb053">  204</a></span>&#160;    <a class="code" href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxTransform.html">PxTransform</a> <a class="code" href="classPxTransform.html#ad784d164cb672a62f145a469806fb053">getNormalized</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;<span class="keyword">    </span>{</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classPxTransform.html">PxTransform</a>(p, q.<a class="code" href="classPxQuat.html#a8ba7d546fb84bd2628887c998bcadf9d">getNormalized</a>());</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    }</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;};</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;<span class="preprocessor">#if !PX_DOXYGEN</span></div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;} <span class="comment">// namespace physx</span></div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;<span class="preprocessor">#endif // #ifndef PXFOUNDATION_PXTRANSFORM_H</span></div><div class="ttc" id="namespacephysx_html"><div class="ttname"><a href="namespacephysx.html">physx</a></div><div class="ttdef"><b>Definition:</b> GuContactBuffer.h:37</div></div>
<div class="ttc" id="classPxQuat_html_a9ae073fbc5614a4698087370ce591567"><div class="ttname"><a href="classPxQuat.html#a9ae073fbc5614a4698087370ce591567">PxQuat::isSane</a></div><div class="ttdeci">PX_CUDA_CALLABLE bool isSane() const</div><div class="ttdoc">returns true if finite and magnitude is reasonably close to unit to allow for some accumulation of er...</div><div class="ttdef"><b>Definition:</b> PxQuat.h:142</div></div>
<div class="ttc" id="classPxQuat_html_a955317d16f9eeb450c4d37d3d8a3f638"><div class="ttname"><a href="classPxQuat.html#a955317d16f9eeb450c4d37d3d8a3f638">PxQuat::getConjugate</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_INLINE PxQuat getConjugate() const</div><div class="ttdef"><b>Definition:</b> PxQuat.h:247</div></div>
<div class="ttc" id="classPxTransform_html_a246b95d9344f81c73b427eedd434880e"><div class="ttname"><a href="classPxTransform.html#a246b95d9344f81c73b427eedd434880e">PxTransform::transformInv</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 transformInv(const PxVec3 &amp;input) const</div><div class="ttdef"><b>Definition:</b> PxTransform.h:117</div></div>
<div class="ttc" id="group__foundation_html_gga70160ca5bbafef277790b3e0f12baf38a95e14c69af8048aedd218cd6e96ad50f"><div class="ttname"><a href="group__foundation.html#gga70160ca5bbafef277790b3e0f12baf38a95e14c69af8048aedd218cd6e96ad50f">PxIdentity</a></div><div class="ttdef"><b>Definition:</b> Px.h:84</div></div>
<div class="ttc" id="classPxTransform_html_aa55386bcc03fd944baca055424ac1ce7"><div class="ttname"><a href="classPxTransform.html#aa55386bcc03fd944baca055424ac1ce7">PxTransform::isFinite</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE bool isFinite() const</div><div class="ttdoc">returns true if all elems are finite (not NAN or INF, etc.) </div><div class="ttdef"><b>Definition:</b> PxTransform.h:166</div></div>
<div class="ttc" id="classPxVec3_html_a2872352117f5ce82ff60ef28207be947"><div class="ttname"><a href="classPxVec3.html#a2872352117f5ce82ff60ef28207be947">PxVec3::isFinite</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_INLINE bool isFinite() const</div><div class="ttdoc">returns true if all 3 elems of the vector are finite (not NAN or INF, etc.) </div><div class="ttdef"><b>Definition:</b> PxVec3.h:156</div></div>
<div class="ttc" id="PxQuat_8h_html"><div class="ttname"><a href="PxQuat_8h.html">PxQuat.h</a></div></div>
<div class="ttc" id="classPxTransform_html_a68aa4ac7a3058a86a9ad0912c3992fd8"><div class="ttname"><a href="classPxTransform.html#a68aa4ac7a3058a86a9ad0912c3992fd8">PxTransform::rotate</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 rotate(const PxVec3 &amp;input) const</div><div class="ttdef"><b>Definition:</b> PxTransform.h:123</div></div>
<div class="ttc" id="PxGeometryHelpers_8h_html_aa71e9d86a57681fb987b3fdb209b7760"><div class="ttname"><a href="PxGeometryHelpers_8h.html#aa71e9d86a57681fb987b3fdb209b7760">plane</a></div><div class="ttdeci">PxU8 plane[sizeof(PxPlaneGeometry)]</div><div class="ttdef"><b>Definition:</b> PxGeometryHelpers.h:219</div></div>
<div class="ttc" id="classPxVec3_html_a4c136327953ea1b09be10d979279b7dc"><div class="ttname"><a href="classPxVec3.html#a4c136327953ea1b09be10d979279b7dc">PxVec3::dot</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE float dot(const PxVec3 &amp;v) const</div><div class="ttdoc">returns the scalar product of this and other. </div><div class="ttdef"><b>Definition:</b> PxVec3.h:276</div></div>
<div class="ttc" id="group__foundation_html_ga6a774eed3cad34b0f636332a3d28c6bb"><div class="ttname"><a href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a></div><div class="ttdeci">#define PX_FORCE_INLINE</div><div class="ttdef"><b>Definition:</b> PxPreprocessor.h:351</div></div>
<div class="ttc" id="classPxQuat_html"><div class="ttname"><a href="classPxQuat.html">PxQuat</a></div><div class="ttdoc">This is a quaternion class. For more information on quaternion mathematics consult a mathematics sour...</div><div class="ttdef"><b>Definition:</b> PxQuat.h:49</div></div>
<div class="ttc" id="classPxTransform_html_add8aa82f40f4e19250bbc081d2c9ced7"><div class="ttname"><a href="classPxTransform.html#add8aa82f40f4e19250bbc081d2c9ced7">PxTransform::operator==</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_INLINE bool operator==(const PxTransform &amp;t) const</div><div class="ttdoc">returns true if the two transforms are exactly equal </div><div class="ttdef"><b>Definition:</b> PxTransform.h:87</div></div>
<div class="ttc" id="classPxTransform_html_a94418383f43ad184a40806d343858f80"><div class="ttname"><a href="classPxTransform.html#a94418383f43ad184a40806d343858f80">PxTransform::PxTransform</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform(float x, float y, float z, PxQuat aQ=PxQuat(PxIdentity))</div><div class="ttdef"><b>Definition:</b> PxTransform.h:72</div></div>
<div class="ttc" id="classPxTransform_html_aec8b79543d85634f3b12e1cc2274b0df"><div class="ttname"><a href="classPxTransform.html#aec8b79543d85634f3b12e1cc2274b0df">PxTransform::isValid</a></div><div class="ttdeci">PX_CUDA_CALLABLE bool isValid() const</div><div class="ttdoc">returns true if finite and q is a unit quaternion </div><div class="ttdef"><b>Definition:</b> PxTransform.h:148</div></div>
<div class="ttc" id="classPxTransform_html_aadb9d2118765e188f212cf3c0e0018cb"><div class="ttname"><a href="classPxTransform.html#aadb9d2118765e188f212cf3c0e0018cb">PxTransform::q</a></div><div class="ttdeci">PxQuat q</div><div class="ttdef"><b>Definition:</b> PxTransform.h:51</div></div>
<div class="ttc" id="classPxPlane_html"><div class="ttname"><a href="classPxPlane.html">PxPlane</a></div><div class="ttdoc">Representation of a plane. </div><div class="ttdef"><b>Definition:</b> PxPlane.h:50</div></div>
<div class="ttc" id="classPxTransform_html_ad784d164cb672a62f145a469806fb053"><div class="ttname"><a href="classPxTransform.html#ad784d164cb672a62f145a469806fb053">PxTransform::getNormalized</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform getNormalized() const</div><div class="ttdoc">return a normalized transform (i.e. one in which the quaternion has unit magnitude) ...</div><div class="ttdef"><b>Definition:</b> PxTransform.h:204</div></div>
<div class="ttc" id="group__foundation_html_ga07ffc52cd4afa8e797a5fe6e1cb7e17a"><div class="ttname"><a href="group__foundation.html#ga07ffc52cd4afa8e797a5fe6e1cb7e17a">PX_SHARED_ASSERT</a></div><div class="ttdeci">#define PX_SHARED_ASSERT(exp)</div><div class="ttdef"><b>Definition:</b> PxSharedAssert.h:39</div></div>
<div class="ttc" id="namespacephysx_1_1intrinsics_html_a28bd12477f3ca0b092c0b9b61bdfaf04"><div class="ttname"><a href="namespacephysx_1_1intrinsics.html#a28bd12477f3ca0b092c0b9b61bdfaf04">physx::intrinsics::isFinite</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE bool isFinite(float a)</div><div class="ttdoc">platform-specific finiteness check (not INF or NAN) </div><div class="ttdef"><b>Definition:</b> PxUnixIntrinsics.h:127</div></div>
<div class="ttc" id="classPxTransform_html_acf88e048efec0734d0fc89cd9f976d51"><div class="ttname"><a href="classPxTransform.html#acf88e048efec0734d0fc89cd9f976d51">PxTransform::PxTransform</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform()</div><div class="ttdef"><b>Definition:</b> PxTransform.h:54</div></div>
<div class="ttc" id="classPxTransform_html_a842511b3feface3ce681b2c9cc18a3f0"><div class="ttname"><a href="classPxTransform.html#a842511b3feface3ce681b2c9cc18a3f0">PxTransform::transform</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane transform(const PxPlane &amp;plane) const</div><div class="ttdoc">transform plane </div><div class="ttdef"><b>Definition:</b> PxTransform.h:185</div></div>
<div class="ttc" id="group__foundation_html_ggac10bd69c94c165a52f6de39678ef9d4ca0ea259a79d3556f2986a96b5fbf8d4bc"><div class="ttname"><a href="group__foundation.html#ggac10bd69c94c165a52f6de39678ef9d4ca0ea259a79d3556f2986a96b5fbf8d4bc">PxZero</a></div><div class="ttdef"><b>Definition:</b> Px.h:78</div></div>
<div class="ttc" id="classPxTransform_html_af8d34abf9e0bec9e1eb9327e9d4fea63"><div class="ttname"><a href="classPxTransform.html#af8d34abf9e0bec9e1eb9327e9d4fea63">PxTransform::transform</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform transform(const PxTransform &amp;src) const</div><div class="ttdoc">Transform transform to parent (returns compound transform: first src, then *this) ...</div><div class="ttdef"><b>Definition:</b> PxTransform.h:136</div></div>
<div class="ttc" id="classPxTransform_html_a1e8f1a81e48e0b8c5e5708b871ca61e0"><div class="ttname"><a href="classPxTransform.html#a1e8f1a81e48e0b8c5e5708b871ca61e0">PxTransform::PxTransform</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform(const PxQuat &amp;orientation)</div><div class="ttdef"><b>Definition:</b> PxTransform.h:67</div></div>
<div class="ttc" id="classPxTransform_html_adf6d2666a8113a72b4abbfe2e993a781"><div class="ttname"><a href="classPxTransform.html#adf6d2666a8113a72b4abbfe2e993a781">PxTransform::transform</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 transform(const PxVec3 &amp;input) const</div><div class="ttdef"><b>Definition:</b> PxTransform.h:111</div></div>
<div class="ttc" id="classPxMat44_html"><div class="ttname"><a href="classPxMat44.html">PxMat44</a></div><div class="ttdoc">4x4 matrix class </div><div class="ttdef"><b>Definition:</b> PxMat44.h:54</div></div>
<div class="ttc" id="classPxTransform_html_ad1f4d4ab98a90e24f45b1166f1906309"><div class="ttname"><a href="classPxTransform.html#ad1f4d4ab98a90e24f45b1166f1906309">PxTransform::PxTransform</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform(const PxVec3 &amp;p0, const PxQuat &amp;q0)</div><div class="ttdef"><b>Definition:</b> PxTransform.h:77</div></div>
<div class="ttc" id="classPxTransform_html_ac3102ad8f94485f71fa1ffc54d2c429a"><div class="ttname"><a href="classPxTransform.html#ac3102ad8f94485f71fa1ffc54d2c429a">PxTransform::operator*</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform operator*(const PxTransform &amp;x) const</div><div class="ttdef"><b>Definition:</b> PxTransform.h:92</div></div>
<div class="ttc" id="classPxTransform_html_a5f7c23e913fbd0a40b23895f36550efd"><div class="ttname"><a href="classPxTransform.html#a5f7c23e913fbd0a40b23895f36550efd">PxTransform::transformInv</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform transformInv(const PxTransform &amp;src) const</div><div class="ttdoc">Transform transform from parent (returns compound transform: first src, then this-&gt;inverse) ...</div><div class="ttdef"><b>Definition:</b> PxTransform.h:172</div></div>
<div class="ttc" id="PxPlane_8h_html"><div class="ttname"><a href="PxPlane_8h.html">PxPlane.h</a></div></div>
<div class="ttc" id="classPxTransform_html"><div class="ttname"><a href="classPxTransform.html">PxTransform</a></div><div class="ttdoc">class representing a rigid euclidean transform as a quaternion and a vector </div><div class="ttdef"><b>Definition:</b> PxTransform.h:48</div></div>
<div class="ttc" id="classPxQuat_html_a35ac53818eeab314fc2888542b969544"><div class="ttname"><a href="classPxQuat.html#a35ac53818eeab314fc2888542b969544">PxQuat::isUnit</a></div><div class="ttdeci">PX_CUDA_CALLABLE bool isUnit() const</div><div class="ttdoc">returns true if finite and magnitude is close to unit </div><div class="ttdef"><b>Definition:</b> PxQuat.h:132</div></div>
<div class="ttc" id="classPxTransform_html_ab414a3463acc556445fb095ee32e98d8"><div class="ttname"><a href="classPxTransform.html#ab414a3463acc556445fb095ee32e98d8">PxTransform::PxTransform</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform(PxIDENTITY r)</div><div class="ttdef"><b>Definition:</b> PxTransform.h:62</div></div>
<div class="ttc" id="classPxQuat_html_a8ba7d546fb84bd2628887c998bcadf9d"><div class="ttname"><a href="classPxQuat.html#a8ba7d546fb84bd2628887c998bcadf9d">PxQuat::getNormalized</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_INLINE PxQuat getNormalized() const</div><div class="ttdef"><b>Definition:</b> PxQuat.h:212</div></div>
<div class="ttc" id="classPxTransform_html_ac3b962fef92f40058e6c9122fff01a5f"><div class="ttname"><a href="classPxTransform.html#ac3b962fef92f40058e6c9122fff01a5f">PxTransform::operator*=</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_INLINE PxTransform &amp; operator*=(PxTransform &amp;other)</div><div class="ttdoc">Equals matrix multiplication. </div><div class="ttdef"><b>Definition:</b> PxTransform.h:99</div></div>
<div class="ttc" id="classPxTransform_html_a7a68866dac80dc9be64dd6b31bb2b800"><div class="ttname"><a href="classPxTransform.html#a7a68866dac80dc9be64dd6b31bb2b800">PxTransform::isSane</a></div><div class="ttdeci">PX_CUDA_CALLABLE bool isSane() const</div><div class="ttdoc">returns true if finite and quat magnitude is reasonably close to unit to allow for some accumulation ...</div><div class="ttdef"><b>Definition:</b> PxTransform.h:158</div></div>
<div class="ttc" id="group__foundation_html_ga9727af514012bc32f852e20278a7b04e"><div class="ttname"><a href="group__foundation.html#ga9727af514012bc32f852e20278a7b04e">PX_UNUSED</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_INLINE void PX_UNUSED(T const &amp;)</div><div class="ttdef"><b>Definition:</b> PxPreprocessor.h:466</div></div>
<div class="ttc" id="classPxTransform_html_a4d7ebba4b1f9cd382cdf74efb8539519"><div class="ttname"><a href="classPxTransform.html#a4d7ebba4b1f9cd382cdf74efb8539519">PxTransform::inverseTransform</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxPlane inverseTransform(const PxPlane &amp;plane) const</div><div class="ttdoc">inverse-transform plane </div><div class="ttdef"><b>Definition:</b> PxTransform.h:195</div></div>
<div class="ttc" id="classPxTransform_html_acb9832826ac6c8d150200524f7e7324d"><div class="ttname"><a href="classPxTransform.html#acb9832826ac6c8d150200524f7e7324d">PxTransform::PxTransform</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform(const PxVec3 &amp;position)</div><div class="ttdef"><b>Definition:</b> PxTransform.h:58</div></div>
<div class="ttc" id="classPxQuat_html_a2bafc323c17556f69e17ffccdd127dd1"><div class="ttname"><a href="classPxQuat.html#a2bafc323c17556f69e17ffccdd127dd1">PxQuat::rotate</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3 rotate(const PxVec3 &amp;v) const</div><div class="ttdef"><b>Definition:</b> PxQuat.h:287</div></div>
<div class="ttc" id="group__foundation_html_ga70160ca5bbafef277790b3e0f12baf38"><div class="ttname"><a href="group__foundation.html#ga70160ca5bbafef277790b3e0f12baf38">PxIDENTITY</a></div><div class="ttdeci">PxIDENTITY</div><div class="ttdef"><b>Definition:</b> Px.h:82</div></div>
<div class="ttc" id="classPxQuat_html_a1c665c57310b414f973f7d90d6b89c2a"><div class="ttname"><a href="classPxQuat.html#a1c665c57310b414f973f7d90d6b89c2a">PxQuat::isFinite</a></div><div class="ttdeci">PX_CUDA_CALLABLE bool isFinite() const</div><div class="ttdoc">returns true if all elements are finite (not NAN or INF, etc.) </div><div class="ttdef"><b>Definition:</b> PxQuat.h:124</div></div>
<div class="ttc" id="classPxQuat_html_a3f2432f5a2682489eb889ea178f364be"><div class="ttname"><a href="classPxQuat.html#a3f2432f5a2682489eb889ea178f364be">PxQuat::rotateInv</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3 rotateInv(const PxVec3 &amp;v) const</div><div class="ttdef"><b>Definition:</b> PxQuat.h:301</div></div>
<div class="ttc" id="group__foundation_html_gacb03347b642a2a5bdea1f9b305a6fbec"><div class="ttname"><a href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a></div><div class="ttdeci">#define PX_INLINE</div><div class="ttdef"><b>Definition:</b> PxPreprocessor.h:336</div></div>
<div class="ttc" id="group__foundation_html_ga6e444d58dbf1459261fadc9b79594f63"><div class="ttname"><a href="group__foundation.html#ga6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a></div><div class="ttdeci">#define PX_CUDA_CALLABLE</div><div class="ttdef"><b>Definition:</b> PxPreprocessor.h:460</div></div>
<div class="ttc" id="classPxTransform_html_ab1a41ac5f4df8e07ba590fa0a8a6e786"><div class="ttname"><a href="classPxTransform.html#ab1a41ac5f4df8e07ba590fa0a8a6e786">PxTransform::p</a></div><div class="ttdeci">PxVec3 p</div><div class="ttdef"><b>Definition:</b> PxTransform.h:52</div></div>
<div class="ttc" id="classPxVec3_html"><div class="ttname"><a href="classPxVec3.html">PxVec3</a></div><div class="ttdoc">3 Element vector class. </div><div class="ttdef"><b>Definition:</b> PxVec3.h:49</div></div>
<div class="ttc" id="classPxTransform_html_afd1009813c0963dc38e981018bcdc38e"><div class="ttname"><a href="classPxTransform.html#afd1009813c0963dc38e981018bcdc38e">PxTransform::rotateInv</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 rotateInv(const PxVec3 &amp;input) const</div><div class="ttdef"><b>Definition:</b> PxTransform.h:129</div></div>
<div class="ttc" id="classPxTransform_html_a00171b25a89826a238649055b3fb3c38"><div class="ttname"><a href="classPxTransform.html#a00171b25a89826a238649055b3fb3c38">PxTransform::getInverse</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform getInverse() const</div><div class="ttdef"><b>Definition:</b> PxTransform.h:105</div></div>
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